A Hybrid Controller for Stability Robustness, Performance Robustness, and Disturbance Attenuation of a Maglev System

Devices using magnetic levitation (maglev) offer the potential for friction-free, high-speed, and high-precision operation. Applications include frictionless bearings, high-speed ground transportation systems, wafer distribution systems, high-precision positioning stages, and vibration isolation tables. Maglev systems rely on feedback controllers to maintain stable levitation. Designing such feedback controllers is challenging since mathematically the electromagnetic force is nonlinear and there is no local minimum point on the levitating force function. As a result, maglev systems are open-loop unstable. Additionally, maglev systems experience disturbances and system parameter variations (uncertainties) during operation. A successful controller design for maglev system guarantees stability during levitating despite system nonlinearity, and desirable system performance despite disturbances and system uncertainties. This research investigates five controllers that can achieve stable levitation: PD, PID, lead, model reference control, and LQR/LQG. It proposes an acceleration feedback controller (AFC) design that attenuates disturbance on a maglev system with a PD controller. This research proposes three robust controllers, QFT, Hinf , and QFT/Hinf , followed by a novel AFC-enhanced QFT/Hinf (AQH) controller. The AQH controller allows system robustness and disturbance attenuation to be achieved in one controller design. The controller designs are validated through simulations and experiments. In this research, the disturbances are represented by force disturbances on the levitated object, and the system uncertainties are represented by parameter variations. The experiments are conducted on a 1 DOF maglev testbed, with system performance including stability, disturbance rejection, and robustness being evaluated. Experiments show that the tested controllers can maintain stable levitation. Disturbance attenuation is achieved with the AFC. The robust controllers, QFT, Hinf , QFT/ Hinf, and AQH successfully guarantee system robustness. In addition, AQH controller provides the maglev system with a disturbance attenuation feature. The contributions of this research are the design and implementation of the acceleration feedback controller, the QFT/ Hinf , and the AQH controller. Disturbance attenuation and system robustness are achieved with these controllers. The controllers developed in this research are applicable to similar maglev systems

Second International Symposium on Magnetic Suspension Technology, part 2

In order to examine the state of technology of all areas of magnetic suspension and to review related recent developments in sensors and controls approaches, superconducting magnet technology, and design/implementation practices, the 2nd International Symposium on Magnetic Suspension Technology was held at the Westin Hotel in Seattle, WA, on 11-13 Aug. 1993. The symposium included 18 technical sessions in which 44 papers were presented. The technical sessions covered the areas of bearings, bearing modelling, controls, vibration isolation, micromachines, superconductivity, wind tunnel magnetic suspension systems, magnetically levitated trains (MAGLEV), rotating machinery and energy storage, and applications. A list of attendees appears at the end of the document

Third International Symposium on Magnetic Suspension Technology

In order to examine the state of technology of all areas of magnetic suspension and to review recent developments in sensors, controls, superconducting magnet technology, and design/implementation practices, the Third International Symposium on Magnetic Suspension Technology was held at the Holiday Inn Capital Plaza in Tallahassee, Florida on 13-15 Dec. 1995. The symposium included 19 sessions in which a total of 55 papers were presented. The technical sessions covered the areas of bearings, superconductivity, vibration isolation, maglev, controls, space applications, general applications, bearing/actuator design, modeling, precision applications, electromagnetic launch and hypersonic maglev, applications of superconductivity, and sensors

De-Centralized and Centralized Control for Realistic EMS Maglev Systems

A comparative study of de-centralized and centralized controllers when used with real EMS Maglev Systems is introduced. This comparison is divided into two parts. Part I is concerned with numerical simulation and experimental testing on a two ton six-magnet EMS Maglev vehicle. Levitation and lateral control with these controllers individually and when including flux feedback control in combination with these controllers to enhance stability are introduced. The centralized controller is better than the de-centralized one when the system is exposed to a lateral disturbing force such as wind gusts. The flux feedback control when combined with de-centralized or centralized controllers does improve the stability and is more resistant and robust with respect to the air gap variations. Part II is concerned with the study of Maglev vehicle-girder dynamic interaction system and the comparison between these two controllers on this typical system based on performance and ride quality achieved. Numerical simulations of the ODU EMS Maglev vehicle interacting with girder are conducted with these two different controllers. The de-centralized and centralized control for EMS Maglev systems that interact with a flexible girder provides similar ride quality

International Symposium on Magnetic Suspension Technology, Part 1

The goal of the symposium was to examine the state of technology of all areas of magnetic suspension and to review related recent developments in sensors and controls approaches, superconducting magnet technology, and design/implementation practices. The symposium included 17 technical sessions in which 55 papers were presented. The technical session covered the areas of bearings, sensors and controls, microgravity and vibration isolation, superconductivity, manufacturing applications, wind tunnel magnetic suspension systems, magnetically levitated trains (MAGLEV), space applications, and large gap magnetic suspension systems

The materials processing research base of the Materials Processing Center

The goals and activities of the center are discussed. The center activities encompass all engineering materials including metals, ceramics, polymers, electronic materials, composites, superconductors, and thin films. Processes include crystallization, solidification, nucleation, and polymer synthesis

The materials processing research base of the Materials Processing Center

The investigation and evaluation of materials processing techniques in metals, alloys, polymers, and crystal growth are described

Magnetic Suspension and Balance Systems: A Comprehensive, Annotated Bibliography

This bibliography contains 301 entries. Results are reported of recent studies aimed at increasing the research capabilities of magnetic suspension and balance systems; e.g., increasing force and torque capability, increasing angle of attack capability, and increasing overall system reliability. The problem is addressed of scaling from the relatively small size of existing systems to much larger sizes. The purpose of the bibliography is to provide an up-to-date list of publications that might be helpful to persons interested in magnetic suspension and balance systems for use in wind tunnels. The arrangement is generally chronological by date of presentation. However, papers presented at conferences or meetings are placed under dates of presentation. The numbers assigned to many of the citations have been changed from those used in the previous bibliography. This has been done in order to allow outdated citations to be removed and some recently discovered older works to be included in their proper chronological order. Author, source, and subject indexes are included in order to increase the usefulness of this compilation

Method for Reducing Pumping Damage to Blood

Methods are provided for minimizing damage to blood in a blood pump wherein the blood pump comprises a plurality of pump components that may affect blood damage such as clearance between pump blades and housing, number of impeller blades, rounded or flat blade edges, variations in entrance angles of blades, impeller length, and the like. The process comprises selecting a plurality of pump components believed to affect blood damage such as those listed herein before. Construction variations for each of the plurality of pump components are then selected. The pump components and variations are preferably listed in a matrix for easy visual comparison of test results. Blood is circulated through a pump configuration to test each variation of each pump component. After each test, total blood damage is determined for the blood pump. Preferably each pump component variation is tested at least three times to provide statistical results and check consistency of results. The least hemolytic variation for each pump component is preferably selected as an optimized component. If no statistical difference as to blood damage is produced for a variation of a pump component, then the variation that provides preferred hydrodynamic performance is selected. To compare the variation of pump components such as impeller and stator blade geometries, the preferred embodiment of the invention uses a stereolithography technique for realizing complex shapes within a short time period